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CN104244797B - Magnetic field generation device and encapsulated medical device guiding system - Google Patents

Magnetic field generation device and encapsulated medical device guiding system Download PDF

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Publication number
CN104244797B
CN104244797B CN201380017357.4A CN201380017357A CN104244797B CN 104244797 B CN104244797 B CN 104244797B CN 201380017357 A CN201380017357 A CN 201380017357A CN 104244797 B CN104244797 B CN 104244797B
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magnetic field
mentioned
permanent magnet
state
field generation
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CN104244797A (en
Inventor
千叶淳
河野宏尚
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Olympus Corp
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Olympus Corp
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/02—Permanent magnets [PM]
    • H01F7/0231—Magnetic circuits with PM for power or force generation
    • H01F7/0242—Magnetic drives, magnetic coupling devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/733—Arrangement of the coils or magnets arranged only on one side of the patient, e.g. under a table

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Endoscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

A kind of magnetic field generation device is provided and has the encapsulated medical device guiding system of this magnetic field generation device, wherein, above-mentioned magnetic field generation device is in the guide device guided to the capsule medical apparatus for being directed to subject, from permanent magnet generate for capsule medical apparatus carry out magnetic guiding magnetic field, and the magnetic field generation device be can be in the small-sized magnetic field generation device in desired timing mask magnetic field.Guide device (20) as magnetic field generation device has：Multiple permanent magnets (25a, 25b) generate magnetic field；And magnetic field state change driving portion (252), it switches over magnetic field generation state and magnetic field shielding state by the way that the relativeness of permanent magnet (25a, 25b) is made to change, magnetic field generation state is the state of permanent magnet (25a, 25b) generation magnetic field (MF) in effective magnetic field region (100), which is the state that permanent magnet (25a, 25b) does not generate magnetic field (MF) in effective magnetic field region (100).

Description

Magnetic field generation device and encapsulated medical device guiding system
Technical field
The present invention relates to a kind of generations for carrying out magnetic guiding to the capsule medical apparatus being directed in subject Magnetic field generation device and encapsulated medical device guiding system.
Background technology
In the past, it in endoscopic arts, is continually developing size and is being formed to imported into disappearing for the subjects such as patient Change the capsule type endoscope in pipe.Capsule type endoscope has camera function and wireless communication function in capsule-type enclosure interior, It after being swallowed in the mouth from subject, is moved in digest tube by vermicular movement etc. on one side, obtains quilt successively on one side The image data of image (being also known as in-vivo image below) inside the internal organs of a specimen simultaneously is wirelessly transmitted to be detected Reception device outside body.The image data received in reception device is taken into image display device and is carried out regulation Image procossing.In-vivo image carries out that static image is shown or moving image is shown in the display as a result,.Doctor or shield The users such as scholar observation is shown in the in-vivo image in image display device to diagnose the state of the internal organs of subject in this way.
In recent years it has been proposed that a kind of guide (hereinafter referred to as magnetic guiding) to be directed to the glue in subject using magnetic force The guiding system of bladder type endoscope (referring for example to patent document 1 and 2).In general, in this guiding system, peeped in capsule-type Setting permanent magnet inside mirror, and setting has the guide device of the magnetic field generation sections such as electromagnet outside subject.Moreover, by magnetic Magnetic field caused by generating unit is applied to the permanent magnet in capsule type endoscope, by from the magnetic pull that the magnetic field generates by glue Bladder type endoscope magnetic guiding is to desired position.
In addition, guide device has the display for receiving the image data that capsule type endoscope is got and showing in-vivo image Portion, for operating input equipment of the position of capsule type endoscope, posture etc..In the case of this guide device, Yong Huyi In-vivo image of the side with reference to shown by display unit on one side can using input equipment come the magnetic guiding to capsule type endoscope into Row operation.
In addition, also develop following system：By applying magnetic field to capsule type endoscope come to capsule-type outside subject On/off of the switch of endoscope etc. carries out signal control (referring for example to patent document 3).
Patent document 1：Japanese Unexamined Patent Publication 2006-68501 bulletins
Patent document 2：Japanese Unexamined Patent Application Publication 2008-503310 bulletins
Patent document 3：International Publication No. 2007/083708
Invention content
Problems to be solved by the invention
In addition, using magnetic field of the permanent magnet as generation for the magnetic field of guide capsule type medical treatment device outside subject In the case of generating unit, permanent magnet is different from electromagnet, and the generation in magnetic field can not be opened and closed.That is, permanent magnet generates always Magnetic field with prescribed strength, therefore in the guiding operation for not carrying out capsule medical apparatus, in order to inhibit capsule type medical The accidental movement of device, the influence to subject need to weaken the intensity in magnetic field or preferable mask magnetic field.About this point, Patent Document 3 discloses following technologies：When without using magnetic field generation section, covered by the covering part formed by ferromagnet Lid permanent magnet.However, in this case, size, the weight of magnetic field generation section become larger.
The present invention has been made in view of the above-described circumstances, and it is an object of the present invention to provide a kind of magnetic field generation device and having this The encapsulated medical device guiding system of magnetic field generation device, wherein, above-mentioned magnetic field generation device is to being directed to subject The guide device that guides of capsule medical apparatus in, generate to carry out magnetic to the capsule medical apparatus from permanent magnet The magnetic field of guiding, and above-mentioned magnetic field generation device be can be in the small-sized magnetic field generation device in desired timing mask magnetic field.
The solution to the problem
It achieves the goal to solve the above-mentioned problems, magnetic field generation device according to the present invention is generated as to right As the guiding magnetic field in the magnetic field of object progress magnetic guiding, which is characterized in that having：Multiple permanent magnets, Generate magnetic field；And switching part, by changing the relativeness of above-mentioned multiple permanent magnets come to first state and the second state It switches over, which is the state that above-mentioned multiple permanent magnets generate above-mentioned guiding magnetic field in defined region, this Two-state is the state that above-mentioned multiple permanent magnets do not generate above-mentioned guiding magnetic field in above-mentioned zone.
It in above-mentioned magnetic field generation device, is characterized in that, under above-mentioned first state, magnetic is opened in above-mentioned multiple permanent magnet formation Road, under above-mentioned second state, above-mentioned multiple permanent magnets form closed magnetic circuit.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned multiple permanent magnets are mutually parallel with the direction of magnetization and difference Extremely opposed mode be configured, under above-mentioned first state, above-mentioned multiple permanent magnets separation is above-mentioned under above-mentioned second state Multiple permanent magnet adjoinings.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned multiple permanent magnets are in a manner that the direction of magnetization is mutually parallel Configuration under above-mentioned first state, makes above-mentioned multiple permanent magnets mutually identical extremely opposed, under above-mentioned second state, makes State mutually different extremely opposed of multiple permanent magnets.
It in above-mentioned magnetic field generation device, is characterized in that, under above-mentioned second state, also makes above-mentioned multiple permanent magnets mutual Different pole-faces approach.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned multiple permanent magnets are mutually parallel with the direction of magnetization and difference It is extremely opposed and detach mode be configured, which is also equipped with the magnetic shielding part being made of ferromagnet, above-mentioned Under first state, above-mentioned magnetic shielding part is contacted with the pole-face of above-mentioned multiple permanent magnets, under above-mentioned second state, above-mentioned magnetic cup Component is covered to detach with above-mentioned pole-face.
Above-mentioned magnetic field generation device is characterized in that, is also equipped with：Magnetic field state identification part, identify above-mentioned first state and Above-mentioned second state；And notification unit, notify the recognition result of above-mentioned magnetic field state identification part.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned magnetic field state identification part generates the magnetic field generation device Magnetic field be detected.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned magnetic field state identification part is between above-mentioned multiple permanent magnets Power be detected.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned notification unit notifies above-mentioned identification knot by visual information Fruit.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned notification unit notifies above-mentioned identification knot by auditory information Fruit.
It in above-mentioned magnetic field generation device, is characterized in that, above-mentioned object is is built-in with magnet and is directed to subject Interior capsule medical apparatus.
Encapsulated medical device guiding system according to the present invention is characterized in that having：Magnetic field generation device, production The raw guiding magnetic field as carrying out the magnetic field of magnetic guiding to object, the magnetic field generation device have multiple permanent magnets with Switching part, wherein, above-mentioned multiple permanent magnets generate magnetic fields, and above-mentioned switching part is by changing the relativeness of above-mentioned multiple permanent magnets First state and the second state are switched over, which is on above-mentioned multiple permanent magnets generate in defined region The state in guiding magnetic field is stated, which is the shape that above-mentioned multiple permanent magnets do not generate above-mentioned guiding magnetic field in above-mentioned zone State；And capsule medical apparatus, magnet is built-in with, is directed in subject and in above-mentioned defined region by upper Guiding magnetic field is stated by carry out magnetic guiding.
Above-mentioned encapsulated medical device guiding system is characterized in that, is also equipped with：Identification part identifies above-mentioned first state With above-mentioned second state；And control unit, it is cured according to the recognition result of above-mentioned magnetic field state identification part and above-mentioned capsule-type The inspection state of device is treated to control the action of above-mentioned switching part.
The effect of invention
According to the present invention, draw from permanent magnet generation to what the capsule medical apparatus for being directed to subject guided In the magnetic field generation device of magnetic conduction field, the relativeness for changing multiple permanent magnets by using switching part is come to first state and second State switches over, which is the state that multiple permanent magnet generates guiding magnetic field in defined region, this second State is the state that above-mentioned multiple permanent magnets do not generate guiding magnetic field in the region, therefore can realize can be in desired timing The small-sized magnetic field generation device of armoured magnetic field and the encapsulated medical device guiding system for having this magnetic field generation device.
Description of the drawings
Fig. 1 is a configuration example for representing the encapsulated medical device guiding system involved by embodiments of the present invention 1 Figure.
Fig. 2 is the schematic diagram for the Sketch for representing the guide device shown in Fig. 1.
Fig. 3 is the schematic cross-section for the in-built an example for representing the capsule type endoscope shown in Fig. 1.
Fig. 4 is the structure for representing the magnetic field generation section shown in Fig. 1 and the schematic diagram of operating principle.
Fig. 5 is the structure for representing the magnetic field generation section shown in Fig. 1 and the schematic diagram of operating principle.
Fig. 6 is plan-position changing unit, upright position changing unit, elevation angle changing unit and the angle of revolution shown in definition graph 1 The schematic diagram of the action of changing unit.
Fig. 7 is the flow chart for the action for representing the encapsulated medical device guiding system shown in Fig. 1.
Fig. 8 is the partial side sectioned view for being schematically shown at the guide device in the case of magnetic field shielding state.
Fig. 9 is the partial side section for being schematically shown at the guide device in the case of low-intensity magnetic field generation state Figure.
Figure 10 is the partial side sectioned view for being schematically shown at the guide device in the case of magnetic field generation state.
Figure 11 A are to represent that the magnetic field generation section that the guide device involved by embodiments of the present invention 2 has (is given birth in magnetic field Into state) structure schematic diagram.
Figure 11 B are to represent magnetic field generation section (the magnetic field screen that the guide device involved by embodiments of the present invention 2 has Cover state) structure schematic diagram.
Figure 12 A are to represent that the magnetic field generation section that the guide device involved by embodiments of the present invention 3 has (is given birth in magnetic field Into state) structure schematic diagram.
Figure 12 B are to represent magnetic field generation section (the magnetic field screen that the guide device involved by embodiments of the present invention 3 has Cover state) structure schematic diagram.
Figure 13 is to represent the magnetic field production that the guide device involved by the variation 3-1 of embodiments of the present invention 3 has The schematic diagram of the structure in life portion (magnetic field shielding state).
Figure 14 A are to represent that the magnetic field generation section that the guide device involved by embodiments of the present invention 4 has (is given birth in magnetic field Into state) structure schematic diagram.
Figure 14 B are to represent magnetic field generation section (the magnetic field screen that the guide device involved by embodiments of the present invention 4 has Cover state) structure schematic diagram.
Figure 15 is the schematic diagram for the Sketch for representing the guide device involved by embodiments of the present invention 5.
Figure 16 is the schematic diagram of the action state of the guide device shown in definition graph 15.
Specific embodiment
In the following, it is described with reference to the magnetic field generation device and capsule medical apparatus involved by embodiments of the present invention Guiding system.In addition, in the following description, illustration, which has been used, to be imported into subject by oral cavity and in accumulation in subject Capsule type endoscope guiding system of the capsule type endoscope floated in the liquid of stomach as capsule medical apparatus, still The present invention is not limited to present embodiments.That is, the present invention can be suitable for for example from the esophagus of subject to anus in pipe Intracavitary carries out the various capsule-types such as mobile capsule type endoscope, the capsule type endoscope imported together with isotonic solution from anus The system that medical treatment device guides.In addition, in the following description, each figure is only with it will be appreciated that the degree of present disclosure is general Strategic point shows shape, size and position relationship.Thus, the present invention is not limited to the shape illustrated in the various figures, size And position relationship.
In addition, it in the following description, shows magnetic field generation device according to the present invention being applied in capsule type medical It is generated in apparatus guiding system for the guiding in the magnetic field to capsule medical apparatus (capsule type endoscope) progress magnetic guiding The example of device, but the magnetic field generation device of the present invention also is able to be applied to other than encapsulated medical device guiding system.Example Such as, magnetic field generation device according to the present invention can also be applied to carry out the object other than capsule type endoscope The guide device of magnetic guiding.
In addition, in this application, it will also claim for the objects such as capsule medical apparatus to be carried out with the magnetic field of magnetic guiding To guide magnetic field.
In addition, in the record of attached drawing, identical reference numeral is added to same section.
(embodiment 1)
Fig. 1 is a configuration example for representing the encapsulated medical device guiding system involved by embodiments of the present invention 1 Schematic diagram.As shown in Figure 1, (also referred to as guiding is the encapsulated medical device guiding system involved by embodiment 1 below System) 1 have：Capsule type endoscope 10, is directed in the body cavity of subject, is internally provided with permanent magnet；And as magnetic The guide device 20 of generation device has the guiding magnetic field generating unit 25 of generation three-dimensional magnetic field MF, by MF pairs of the magnetic field The capsule type endoscope 10 being directed in subject carries out magnetic guiding.
Fig. 2 is the figure of the situation of capsule type endoscope inspection for summarily representing to carry out in guiding system 1.Such as it is inciting somebody to action Subject 101 is placed in a state that lower section is provided with the bed (subject mounting table) 102 of guiding magnetic field generating unit 25 and carries out glue Bladder type endoscopy.Magnetic field generating unit 25 is guided in check object position (stomach, small intestine, large intestine comprising subject 101 Deng) region 100 in generation be enough guide capsule type endoscope 10 intensity magnetic field MF.It can be to capsule hereinafter, will generate The region 100 for the magnetic field MF that type endoscope 10 guides is known as effective magnetic field region.
Capsule type endoscope 10 is directed in subject 101 it together by oral wait with defined liquid (such as water) Afterwards, the outside of subject 101 is moved and is finally discharged to inside digest tube.Capsule type endoscope 10 is being led during this period Enter into the liquid of (such as inside stomach) inside the internal organs of subject 101 and float, be guided the magnetic field magnetic of the generation of device 20 on one side Property guiding on one side shot successively in subject 101, wirelessly successively send by shooting get with it is internal The corresponding image information of image (image data).
Fig. 3 is the schematic section for the in-built an example for representing capsule type endoscope 10.As shown in figure 3, capsule-type Endoscope 10 has size and is formed as being easily guided into the shell i.e. capsule-type housing 12 inside the internal organs of subject 101 and claps It takes the photograph the subject in mutually different camera shooting direction and generates image pickup part 11A, 11B of image information.In addition, capsule type endoscope 10 Have：The image information generated by image pickup part 11A, 11B is wirelessly transmitted to outside by wireless communication part 16；Control Portion 17 controls each structural portion of capsule type endoscope 10；And power supply unit 18, provide power to capsule type endoscope 10 Each structural portion.Also, capsule type endoscope 10 has the permanent magnet 19 for that can realize the magnetic guiding of guide device 20.
Capsule-type housing 12 is formed to the shell inside the internal organs for importeding into subject 101 for size, by using Domed shape housing 12b, 12c realizes to seal the both-side opening end of tubular shell 12a.Domed shape housing 12b, 12c are The optical component of transparent domed shape for the light of the provision wavelengths frequency band such as visible ray.In addition, tubular shell 12a is pair The substantially opaque coloured housing for visible ray.As shown in figure 3, by these tubular shells 12a and domed shape housing The 12 inside impenetrable liquid of capsule-type housing that 12b, 12c are formed image pickup part 11A, 11B, wireless communication part 16, control unit are set 17th, power supply unit 18 and permanent magnet 19.
Image pickup part 11A have optical systems 14A and the cmos image sensors such as illumination portions 13A, the collector lens such as LED or The photographing elements such as person CCD 15A.Illumination portion 13A sends out the illumination lights such as white light, Ge Zheyuan to the imaging field of photographing element 15A Shape housing 12b is pushed up to illuminate the subject in imaging field.Optical system 14A assembles the reflected light from the imaging field To the imaging surface of photographing element 15A, and it is imaged imaging surface of the shot object image of imaging field in photographing element 15A.Camera shooting member Part 15A receives the reflected light from imaging field for being focused at imaging surface, and light-to-current inversion processing is carried out to the optical signal received, The image information of the shot object image of generation expression imaging field, the i.e. in-vivo image of subject 101.
Image pickup part 11B in the same manner as image pickup part 11A, have the optical systems 14B such as illumination portions 13B, the collector lens such as LED with And the photographing elements such as cmos image sensor or CCD 15B.
As shown in figure 3, in the compound eye type capsule-type that capsule type endoscope 10 is the front and back for shooting longitudinal axis L a directions In the case of medical treatment device, these image pickup parts 11A, 11B are configured to each optical axis and the long side direction as capsule-type housing 12 Central shaft longitudinal axis L a is substantially parallel to or substantially consistent and each imaging field is towards mutual opposite direction.That is, to image member The imaging surface of part 15A, 15B mode orthogonal with longitudinal axis L a install image pickup part 11A, 11B.
Wireless communication part 16 has antenna 16a, by the image information got by above-mentioned image pickup part 11A, 11B via antenna 16a is wirelessly transmitted to outside successively.Specifically, wireless communication part 16 is obtained from control unit 17 based on image pickup part 11A Or the picture signal of image information that image pickup part 11B is generated, it is generated by being modulated processing etc. to the picture signal Wireless signal.The wireless signal is sent to external receiving part 21 via antenna 16a by wireless communication part 16.
Control unit 17 controls each action of image pickup part 11A, 11B and wireless communication part 16, and controls these each structural portions Between signal input and output.Specifically, control unit 17 regards the camera shooting of photographing element 15A shooting illumination portion 13A illuminations Subject in makes the subject in the imaging field of photographing element 15B shooting illumination portion 13B illuminations.In addition, control unit 17 With for generating the signal processing function of picture signal.Control unit 17 obtains image information from photographing element 15A, 15B, every time Signal processing as defined in implementing when obtaining image information to the image information, generation include the picture signal of image data.Also, Control unit 17 controls wireless communication part 16 that this picture signal is wirelessly transmitted to outside successively according to time series.
Power supply unit 18 is the Reserve Power Divisions such as button-type battery or capacitor, has the switch portions such as magnetic switch, photoswitch.Power supply Portion 18 switches on and off state according to the magnetic field applied from outside come Switching power, in the case of on-state, by electric power storage The electric power in portion is appropriately supplied to each structural portion (image pickup part 11A, 11B, wireless communication part 16 and the control of capsule type endoscope 10 Portion 17 processed).In addition, power supply unit 18 in the case of off-state, stops the electric power to each structural portion of capsule type endoscope 10 It provides.
By permanent magnet 19, magnetism can be carried out to capsule type endoscope 10 using the magnetic field that guide device 20 is generated and drawn Lead, the permanent magnet 19 by the direction of magnetization relative to longitudinal axis L a keep it is inclined in a manner of fixed configurations in capsule-type housing 12 Portion.Specifically, to be configured to the direction of magnetization orthogonal with longitudinal axis L a for permanent magnet 19.Permanent magnet 19 follows the magnetic field applied from outside And acted, as a result, realizing magnetic guiding of the guide device 20 to capsule type endoscope 10.
Guide device 20 has：It is carried out wireless communication between receiving part 21, with capsule type endoscope 10 and receives capsule The wireless signal for including image information that type endoscope 10 is got；Position detection part 22, according to from capsule type endoscope 10 The wireless signal received detects position of the capsule type endoscope 10 in subject 101；Display unit 23a, from receiving part Image information is obtained in wireless signal received by 21, it is obtained that defined signal processing will be implemented to the image information In-vivo image, various information carry out picture and show；Notification unit 23b carries out user using visual information or auditory information Notice；Operation inputting part 24, receiving indicate the input of the information of various operations in guiding system 1 etc.；Magnetic field generating unit 25, It generates the magnetic field for carrying out magnetic guiding to capsule type endoscope 10；Magnetic field state identification part 26, the generation of identification magnetic field The state in the magnetic field that portion 25 is generated；Control unit 27 controls these each portions；And storage part 28, it stores by capsule-type Sight glass 10 shoots obtained image information etc..
Receiving part 21 has mutiple antennas 21a, is received successively from capsule type endoscope via these mutiple antennas 21a 10 wireless signal.Receiving part 21 selects the highest antenna of received electric field strength from mutiple antennas 21a, to via selected The wireless signal from capsule type endoscope 10 that antenna receives is demodulated processing etc..Receiving part 21 is wireless from this as a result, The image data related with subject 101 is extracted in signal.The picture signal for including image data that receiving part 21 will extract It is output to display unit 23a.
The signal strength of wireless signal of the position detection part 22 according to received by receiving part 21 carries out estimating capsule The operation of position of the type endoscope 10 in subject 101.
Display unit 23a includes the various displays such as liquid crystal display, and generation is included based on the image inputted from receiving part 21 The in-vivo image of data, other various information picture and be shown in display.Specifically, display unit 23a is for example by capsule Type endoscope 10 shoots the obtained in-vivo image group of subject 101 and is shown in picture successively, and shows with being peeped in capsule-type The related information of the position of mirror 10, posture, the information related with guiding operation.At this point, display unit 23a can be with display guiding device 20 positions of capsule type endoscope 10 estimated according to generated magnetic field, posture, can also be according to position detection part 22 Position in subject 101 corresponding with the in-vivo image in display is shown in picture by position detection result.In addition, display Patient's letter of downscaled images of in-vivo image that portion 23a is for example shown as the control of control unit 27 and selects, subject 101 Breath and inspection information etc..Also, display unit 23a, will be to the warning of user, guiding magnetic field generating unit according to the control of control unit 27 The 25 magnetic field MF generated state (such as, if generate magnetic field MF in effective magnetic field region 100) this presentation of information In picture.
Sound devices such as notification unit 23b lighting apparatus such as comprising LED, buzzer and for controlling these equipment The driving circuit acted under the control of control unit 27.The notice pair such as flicker, buzzer sound that notification unit 23b passes through illumination The shape of magnetic field MF that magnetic field generating unit 25 will be guided to be generated is lighted in the warning of user or the illumination that passes through regulation color State is notified to user.
Operation inputting part 24 is set by having the inputs such as control stick, the operation console of various buttons and various switches and keyboard It is standby come what is realized, receive for carrying out the guiding instruction information of magnetic guiding to capsule type endoscope 10, for guide device The input of this various information of set information of pattern as defined in 20 settings.Guiding instruction information is to draw for controlling as magnetism The position of the capsule type endoscope 10 of operation object, the information of posture are led, in detail, comprising with changing capsule type endoscope 10 Position action, change capsule type endoscope 10 inclination angle (relative to the angle of vertical axle) the related information of action, With the action at the azimuth (around the angle of vertical axle) of visual field (aftermentioned image pickup part 11A, 11B) for changing capsule type endoscope 10 Related information etc..In addition, hereinafter, the azimuth of visual field is referred to as azimuth.Operation inputting part 24 by received this A little information are input to control unit 27.
As shown in Fig. 2, guiding magnetic field generating unit 25 is arranged at the lower part (on the inside of the leg of bed 102) of bed 102, effective Generation is for changing the position of capsule type endoscope 10, inclination angle, the side being directed in subject 101 in field region 100 The magnetic field MF of parallactic angle.In addition, in order to inhibit magnetic field MF (such as side sides of the leg of bed 102 other than effective magnetic field region 100 To) space reveal, preferably by the ferromagnets such as iron plate formed bed 102 leg.
Guiding magnetic field generating unit 25 has：Magnetic field generation section 251, including be accommodated in respectively in shell 25d, 25e one To permanent magnet 25a, 25b；Magnetic field state changes driving portion 252, changes the state for the magnetic field MF that magnetic field generation section 251 generates； And as making the plan-position changing unit 253 of mechanism, the upright position change that the magnetic field generation section 251 translated and rotated Portion 254, elevation angle changing unit 255 and angle of revolution changing unit 256.
Fig. 4 and Fig. 5 is the structure for showing magnetic field generation section 251 and the schematic diagram of operating principle.As shown in Figure 4 and Figure 5, forever Magnet 25a, 25b for example with rectangular shape, by it is respective it is orthogonal with the direction of magnetization facing towards bed 102 in a manner of matched It puts.In addition, permanent magnet 25a, 25b are mutually parallel with the direction of magnetization and are configured towards opposite state.In addition, in Fig. 4 and In Fig. 5, shell 25d, 25e is omitted.
Bearing part 25c via shell 25d, 25e in a manner of it can change the relative position of each other relationship to permanent magnet 25a, 25b are supported.Specifically, bearing part 25c at least one of permanent magnet 25a, 25b are allowed it to along The mode that bearing part 25c is slided is supported.In addition, stop part 25f is provided on bearing part 25c, to prevent permanent magnetism Body 25a, 25b are close to each other due to magnetic pull, wherein, stop part 25f by with shell 25d, 25e or permanent magnet 25a, 25b engages the movement to prevent the two.In general, permanent magnet 25a, 25b are become by stop part 25f relative to bearing part The fixed state in 25c positions.Stop part 25f is released from the timing that magnetic field state change driving portion 252 is acted.
Magnetic field state changes driving portion 252 to change the state of the magnetic field MF of the generation of magnetic field generation section 251 and changes forever The relative position relation of magnet 25a, 25b.In more detail, as shown in figure 4, to generate magnetic in effective magnetic field region 100 In the case of the MF of field, magnetic field state change driving portion 252 is separated from each other permanent magnet 25a, 25b.Magnetic line of force FL, which is formed, as a result, expands The open-flux path of the neighboring area of the permanent magnet 25a comprising effective field region 100 and permanent magnet 25b is opened up, in effective magnetic field area Generation magnetic field MF in domain 100.Hereinafter, the state is known as magnetic field generation state.
On the other hand, as shown in figure 5, in the case of the generation magnetic field MF or not in effective magnetic field region 100, magnetic field state Change driving portion 252 makes permanent magnet 25a, 25b adjoin each other.At this time it is also possible to be in direct contact permanent magnet 25a, 25b, may be used also To arrange permanent magnet 25a, 25b across a little gap.As a result, magnetic line of force FL formation rest in permanent magnet 25a, 25b and Closed magnetic circuit near it, can be to 100 armoured magnetic field MF of effective magnetic field region.Hereinafter, the state is known as magnetic field shielding state. Magnetic field state change driving portion 252 is that the switching part that state is switched over magnetic field shielding state is generated to this magnetic field.
Plan-position changing unit 253, upright position changing unit 254, elevation angle changing unit 255 and angle of revolution changing unit 256 In a state that the relative position relation of permanent magnet 25a, 25b for maintaining to be configured in magnetic field generation section 251 are constant, such as Fig. 6 institutes Show makes magnetic field generation section 251 be translated or be rotated like that.The distribution of magnetic field MF in change effective magnetic field region as a result, Position, inclination angle, azimuth of the capsule type endoscope 10 in effective magnetic field region 100 are controlled.In addition, in this implementation In mode 1, by the direction of magnetization of permanent magnet 25a, 25b in magnetic field generation section 251 (with reference to Fig. 4) towards the state of vertical direction It is set as original state.In the initial state, the upper surface of magnetic field generation section 251 is parallel with horizontal plane.
Plan-position changing unit 253 and upright position changing unit 254 are driven such as the translation comprising elevator, sliding part Motivation structure is realized.Plan-position changing unit 253 makes magnetic field generation section 251 translate in the horizontal plane.In addition, upright position changes Portion 254 makes magnetic field generation section 251 translate in the vertical direction.
Elevation angle changing unit 255 is rotated 251 axis relative to horizontal direction of magnetic field generation section, makes magnetic field generation section The angle of 251 upper surface with respect to the horizontal plane changes.Hereinafter, by the upper surface of magnetic field generation section 251 and horizontal plane institute The angle of formation is set as elevation angle theta.
Angle of revolution changing unit 256 makes vertical direction of the magnetic field generation section 251 with respect to the center of magnetic field generation section 251 Axis rotated.Hereinafter, magnetic field generation section 251 is set as angle of revolution ψ relative to the angle that original state is turned round.
In the state of magnetic field generation section 251 being made only to have turned round angle of revolution ψ by angle of revolution changing unit 256, pass through the elevation angle Changing unit 255 is rotated magnetic field generation section 251, the capsule that can constrain the magnetic field MF generated by magnetic field generation section 251 The azimuth and inclination angle of type endoscope 10 change.
Magnetic field state identification part 26 identifies that guide device 20 is in magnetic field generation state or magnetic field shielding state.Magnetic field shape It is for example realized using the Magnetic Sensor for being arranged in effective magnetic field region 100 (such as inside of bed 102) state identification part 26. In the case where the output valve of Magnetic Sensor is more than defined threshold value, the output of magnetic field state identification part 26 represents guide device 20 Identification signal in magnetic field generation state.On the other hand, in the case where the output valve of Magnetic Sensor is less than defined threshold value, The output of magnetic field state identification part 26 represents that guide device 20 is in the identification signal of magnetic field shielding state.
Control unit 27 indicates letter according to the testing result of position detection part 22 and from the guiding of the input of operation inputting part 24 Breath comes to plan-position changing unit 253, upright position changing unit 254, elevation angle changing unit 255 and angle of revolution changing unit 256 Action is controlled, and is achieved in the desired position of user, inclination angle and the azimuth of capsule type endoscope 10.In addition, control Portion 27 processed controls magnetic field state change driving portion 252 according to the operation signal inputted from operation inputting part 24, thus Guide device 20 is made to be changed into state corresponding with capsule type endoscope inspection state, and (magnetic field generates state or magnetic field shielding shape State).
Storage part 28 is protected stored storage medium using flash memory or hard disk etc. in a manner of rewritable and come in fact It is existing.Storage part 28 in addition to store the image data of the in-vivo image group of subject 101 taken by capsule type endoscope 10 with Outside, this information of various programs, various parameters that memory control unit 27 is used to control each portion of guide device 20 is gone back.
Then, the action of the guiding system 1 shown in definition graph 1.
Fig. 7 is the flow chart for the action for representing guiding system 1.It is first when starting encapsulated medical device guiding system 1 First, in step S101, identification signal that the control unit 27 of guide device 20 is exported according to magnetic field state identification part 26 confirms Whether guide device 20 is in magnetic field shielding state (with reference to Fig. 5).
In subsequent step S102, control unit 27, which confirms whether magnetic field generation section 251 is configured, makes effective magnetic field region 100 Interior magnetic field intensity is minimum position (initial position).Such as shown in Fig. 8, which is the energy in the leg of bed 102 The extreme lower position (position i.e. farthest from effective magnetic field region 100) of magnetic field generation section 251 is enough configured.In addition, it is generated in magnetic field When portion 251 is not at initial position, control unit 27 controls plan-position changing unit 253 and upright position changing unit 254 Magnetic field generation section 251 to be made to be moved to initial position.In addition, at this point, control unit 27 changes elevation angle changing unit 255 and angle of revolution Portion 256 is controlled, and the elevation angle theta and angle of revolution ψ for making magnetic field generation section 251 are back to original state.
In step s 103, the signal that is positioned on bed 102 of subject 101 is represented when being had input from operation inputting part 24 When, control unit 27 is identified as subject 101 and is positioned on bed 102.It can also be by defined user's operation (such as by leaving the bed Mounting ACK button) come input represent the subject 101 mounting signal.Alternatively, defined shape can also be in bed 102 During state (such as pressure sensor is set in the subject mounting surface of bed 102, it is more than defined in the output valve of the pressure sensor During threshold value) input the signal.
In step S104, when the power supply of capsule type endoscope 10 is switched on (ON), guide device 20 is received from capsule The wireless signal that type endoscope 10 is sent, capsule type endoscope 10 can be obtained by, which being confirmed whether, takes image.Here, by making The magnetic switch of the power supply unit 18 in capsule type endoscope 10 is configured, photoswitch is connected to realize opening for capsule type endoscope 10 It is dynamic.That is, apply the magnetic from outside, the light for starting the magnetic switch, photoswitch.
In step S105, represent what capsule type endoscope 10 was swallowed by subject 101 when being inputted from operation inputting part 24 During signal, control unit 27 is identified as capsule type endoscope 10 and is swallowed by subject 101.Defined user's operation can also be passed through (such as press capsule and swallow ACK button) represents the signal swallowed of the capsule type endoscope 10 to input.It alternatively, can also When the image data sent from capsule type endoscope 10 becomes defined state (such as become table in the Color Characteristic of image When showing positioned at internal defined state) input the signal.
In step s 106, when inputting the signal representing to check since operation inputting part 24, control unit 27 controls respectively Portion is so that guide device 20 is changed into magnetic field generation state.Such as the regulation button of push input unit 24 can also be passed through (such as checking start button) this action inputs the signal for representing that the inspection starts by the operation of control stick etc..
Correspondingly, as shown in figure 9, magnetic field state change driving portion 252 makes in permanent magnet 25a and permanent magnet 25b One is slided to detach the two relative to another.Guide device 20 becomes magnetic field generation state as a result,.At this point, magnetic Field generating unit 251 is in initial position (with reference to step S102), therefore the magnetic field MF's generated in effective magnetic field region 100 is strong It spends for minimum.Thereby, it is possible to avoid sharp applying the big magnetic field of intensity to capsule type endoscope 10.Hereinafter, magnetic field is generated The magnetic field generation state (state shown in Fig. 9) that portion 251 is in initial position is known as low-intensity magnetic field generation state.
In step s 107, control unit 27 receives the information inputted from operation inputting part 24 (such as this quilt of left lateral position The position information of a specimen 101), by the presentation of information of receiving in display device 23a.At this point, control unit 27 can also carry out with Lower calculation process：Absolute coordinate system (coordinate system on the basis of gravity direction) and the information based on capsule type endoscope 10 come Obtain subject 101 in relative coordinate system, based on the relative coordinate system come in subject 101 direction of observation, observation portion Estimated position.
In step S108, each portion of guiding magnetic field generating unit 25 proceeds by the guiding of capsule type endoscope 10, according to The guiding instruction information inputted from operation inputting part 24 is come the position to magnetic field generation section 251, elevation angle theta and angle of revolution ψ and is carried out Control.At this point, as shown in Figure 10, magnetic field generation section 251 is made to be moved to the top of initial position, thus in effective magnetic field region The magnetic field MF of intensity bigger is formed in 100.Guide device 20 is changed into common magnetic field generation from low-intensity magnetic field generation state as a result, State.
In step S109, control unit 27 makes receiving part 21 receive the wireless communication sent from capsule type endoscope 10 successively Number, the image in subject 101 is made to be shown in display unit 23a.User be directed at while with reference to the image operation inputting part 24 into Row operation, thus, it is possible to guide capsule type endoscope 10 to desired position, inclination angle and azimuth.
In addition, user can also change the position of subject 101 as needed.In this case, by pressing behaviour Make button, using this predetermined operation carried out to operation inputting part 24 of the input gestures information such as keyboard, can will represent to have become The signal of this meaning of position of more subject 101 is input to guide device 20.It is represented when having been had input from operation inputting part 24 When changing the signal of this meaning of position of subject 101, magnetic field generation section 251 is temporarily returned to initial position by control unit 27 To be set as low-intensity magnetic field generation state.It is high-strength thereby, it is possible to avoid sharp applying the capsule type endoscope 10 after change in position The magnetic field of degree.
In step s 110, control unit 27 judges whether emergent stopping triggering is true.Here, emergent stopping triggering for example may be used To be the washout correspondingly inputted with pressing defined button (emergency stop button) from operation inputting part 24, also may be used It (such as is set to tested with the signal for being the mounting of subject 101 for representing that None- identified once recognized in step s 103 The reduction of the output valve of the pressure sensor of body mounting surface).In addition to this, the inspection that can also will be vibrated as caused by earthquake etc. It surveys, the drastically decline of voltage in guide device 20 is set as emergent stopping triggering.
(the step S110 in the case where emergent stopping triggering is set up："Yes"), control unit 27 makes display unit 23a, notification unit 23b, which is performed, represents that the notice of this meaning is set up in emergent stopping triggering, and magnetic field state change driving portion 252 is controlled to make to draw It leads device 20 and is changed into magnetic field shielding state (urgent shielding) (step S111).As specific notification method, display can be made Portion 23a shows the warning of " emergent stopping " this view-based access control model information, and the flicker that notification unit 23b performs illumination can also be made this Other warnings of view-based access control model information, sound either this warning based on auditory information of warning tones or can also perform this The two.Later, the motion transition of guiding system 1 is to step S116.On the other hand, in the case where emergent stopping triggering is invalid (step S110："No"), the motion transition of system 1 is guided to step S112.
In step S112, control unit 27 judges whether that having input expression from operation inputting part 24 has completed all images Obtain the signal of this meaning.Can also by defined user's operation (such as press image acquisition completing button, guiding terminate Button) come input represent the image acquisition complete signal.It alternatively, can also be in the image received from capsule type endoscope 10 In the case of number as defined in reaching, connected from the power supply of capsule type endoscope 10 after have been subjected to it is defeated in the case of the stipulated time Enter the signal.
(the step S112 in the case where having completed the acquisition of all images："Yes"), control unit 27 generates guiding magnetic field The action in portion 25 stops, and stops the guiding to capsule type endoscope 10, and magnetic field generation section 251 is made to be back to initial position and Guide device 20 is made to be changed into low-intensity magnetic field generation state (with reference to step S113, Fig. 9).
On the other hand, (the step S112 in the case where not yet getting all images："No"), control unit 27 judges whether Position information (step S114) is newly had input from operation inputting part 24.(the step S114 in the case where newly having input position information： "Yes"), control unit 27 makes magnetic field generation section 251 be back to initial position and guide device 20 is made to be changed into low-intensity magnetic field generation state (step S115).Later, the motion transition of guiding system 1 is to step S109.On the other hand, in no newly input position information In the case of (step S114："No"), the action of guiding system 1 transits directly to step S109.
In step S116, control unit 27 controls magnetic field state change driving portion 252, and guide device 20 is made to be changed into magnetic field Masked state (with reference to Fig. 8).Terminate the action of guiding system 1 as a result,.Later, user puts down subject 101 from bed 102.
As described above, according to embodiment 1, capsule type endoscope 10 is guided from permanent magnet 25a, 25b generation Magnetic field MF guide device 20 in, by the way that the position relationship of permanent magnet 25a, 25b are switched to adjacency state from discrete state, Guide device 20 can be made to be changed into magnetic field shielding state from magnetic field generation state.Thus, it is possible to realize to shield when needed The mini-boot device 20 in magnetic field.
In addition, according to embodiment 1, use will be configured at for the guiding magnetic field generating unit 25 of guide capsule type endoscope 10 In the lower part of the bed 102 of mounting subject 101, therefore encapsulated medical device guiding system can be made whole further small-sized Change.
In addition, according to embodiment 1, make guiding accordingly by shirtsleeve operation with the state of capsule type endoscope inspection The state in the magnetic field in device 20 is changed, therefore can safely be checked.For example, make guiding after starting to check Device 20 is changed into magnetic field generation state, thus inspection start it is front and rear can inhibit the undesirable metal parts of magnetic field suction this Kind risk.In addition, guide device 20 is for example made to become the shape of magnetic field intensity minimum later immediately in magnetic field generation state is changed into State, therefore can avoid sharp applying subject 101 this risk in magnetic field of high intensity.
In addition, according to embodiment 1, check start when, check start after change the position of subject 101 when, Magnetic field generation section 251 is back to initial position guide device 20 to be made to be changed into low-intensity magnetic field generation state, therefore can avoid The big magnetic field of intensity is applied to capsule type endoscope 10 and make capsule type endoscope 10 be moved to user position beyong contemplation this Kind situation.
In addition, in the embodiment 1 of above description, when being changed into magnetic field generation state from magnetic field shielding state, forever The movement of magnet 25a, 25b need power, thus it is preferable to use the small material of friction coefficient come make shell 25d, 25e or It works hard to reduce power burden in mobile mechanism.
In addition, in the embodiment 1, use and be provided at both ends with image pickup part 11A, 11B in capsule type endoscope 10 Compound eye capsule, but the either end in capsule type endoscope can also be used to be provided with the simple eye capsule of image pickup part.
In addition, in the embodiment 1 of above description, permanent magnet 19 is configured to the direction of magnetization and capsule type endoscope 10 Longitudinal axis L a it is orthogonal, but it is consistent with the direction of longitudinal axis L a permanent magnet 19 to be configured to the direction of magnetization.
In addition, in the embodiment 1 of above description, generated by guiding magnetic field generating unit 25 for being directed to The magnetic field MF that capsule type endoscope 10 in subject 101 guides, but in addition to this, it can also generate in capsule-type Sight glass 10 generates the magnetic field of various effects.Such as can also in capsule type endoscope 10 built-in magnetic switch, by guiding magnetic field Generating unit 25 switches on and off carry out remote control to the magnetic switch.
(variation 1-1)
As the variation 1-1 of embodiment 1, the position being detected to the position of permanent magnet 25a, 25b can also be used Sensor is put to realize magnetic field state identification part 26.Such as between permanent magnet 25a and permanent magnet 25b between be divided into defined threshold In the case that value is above (state shown in Fig. 4), the output of magnetic field state identification part 26 represents that guide device 20 is in magnetic field generation The identification signal of state.On the other hand, the interval between permanent magnet 25a and permanent magnet 25b is less than the situation of defined threshold value Under (state shown in Fig. 5), magnetic field state identification part 26 output represent guide device 20 be in magnetic field shielding state identification believe Number.
(variation 1-2)
For position detection of the capsule type endoscope 10 in subject 101, except through what is illustrated in the embodiment 1 It, can also be by various methods other than being carried out based on the method for the intensity from the wireless signal that capsule type endoscope 10 receives Come carry out.
For example, it is also possible to detect capsule type endoscope 10 using according to the acceleration for being applied to capsule type endoscope 10 The method of position.In this case, the acceleration to being applied to capsule type endoscope 10 is set in the inside of capsule type endoscope 10 Degree carries out the acceleration transducer of three dimensional detection, and the testing result of acceleration transducer is added to wireless signal and is carried out at any time It sends.Guide device 20 is according to the testing result for the acceleration transducer for being superimposed on the wireless signal received come to being applied to glue The acceleration of bladder type endoscope 10 is integrated and is obtained the relative variation of the position of capsule type endoscope 10, according to the variation Measure the current location to calculate capsule type endoscope 10.
(variation 1-3)
As the method for detecting position of the capsule type endoscope 10 in other subjects 101, detection can also be used to hand over Flow the method in magnetic field.In this case, the alternating current magnetic field for generating alternating current magnetic field is set to generate in the inside of capsule type endoscope 10 Portion.On the other hand, in the magnetic field sensor of the multiple detection alternating current magnetic fields of 20 side of guide device setting.
Guide device 20 detects capsule type endoscope 10 respectively by the multiple magnetic field sensors set in multiple positions The alternating current magnetic field of generation continuously calculates the position of capsule type endoscope 10, azimuth and inclines according to these testing results At least one of oblique angle.At this point, guide device 20 can also be according to the position of capsule type endoscope 10, the azimuth calculated And at least one of inclination angle is come the guiding magnetic field for the generation that draws oneself up.In addition, guide device 20 is it can be identified that capsule Whether the position of type endoscope 10 is located at the measured zone (area in magnetic field that guiding magnetic field generating unit 25 generates in subject 101 Domain) in, result is confirmed according to it to control the action of magnetic field state change driving portion 252.Such as in capsule type endoscope 10 In the case of in the measured zone in subject 101, control unit 27 controls magnetic field state change driving portion 252 to make permanent magnet 25a, 25b are in discrete state to become magnetic field generation state.On the other hand, it is located at subject 101 in capsule type endoscope 10 In the case that interior measured zone is outer, control unit 27 controls magnetic field state change driving portion 252 to be in permanent magnet 25a, 25b Adjacency state is to become magnetic field shielding state.
(variation 1-4)
As the method for detecting position of the capsule type endoscope 10 in subject 101, illustrate other detection alternating current magnetic fields Method.In this case, it sets through alternating current magnetic field and the lc circuit of resonance, is guiding in the inside of capsule type endoscope 10 20 side of device sets the magnetic field sensor of alternating current magnetic field generation device and multiple detection alternating current magnetic fields.
Guide device 20 detects the first alternating current magnetic field in advance, which do not had in capsule type endoscope 10 Alternating current magnetic field generates in the state of in measured zone (region in the magnetic field that magnetic field generating unit 25 generates) in subject 101 The magnetic field that device generates.Then, the second alternating current magnetic field is detected, and is handed over according to the detected value of the first alternating current magnetic field and second The oscillating magnetic field that the lc circuit for flowing the difference of the detected value in magnetic field to be obtained in capsule type endoscope 10 generates, second AC magnetism Included in capsule type endoscope 10 be located at the measured zone in subject 101 Nei in the case of by capsule type endoscope 10 The oscillating magnetic field that lc circuit generates.Guide device 20 continuously calculates capsule type endoscope according to the oscillating magnetic field being obtained in this way 10 position coordinates in three dimensions.
(variation 1-5)
As the variation 1-5 of embodiment 1, can also use between permanent magnet 25a, 25b power (magnetic pull or Magnetic repulsion) sensor that is detected forms magnetic field state identification part 26.
It is the direction of the magnetic force between permanent magnet 25a, 25b, strong here, under generating state and magnetic field shielding state in magnetic field Degree is different.Such as shown in Fig. 4, in the case where magnetic line of force FL becomes open-flux path (i.e. in the case of magnetic generation state), permanent magnet Magnetic repulsion between 25a, 25b dies down.Conversely, as shown in figure 5, (the i.e. magnetic screen in the case where magnetic line of force FL becomes closed magnetic circuit In the case of state), the magnetic pull between permanent magnet 25a, 25b becomes strong.Therefore, it is set in permanent magnet 25a or 25b to being applied to The pressure sensor that the pressure of the permanent magnet is detected is distinguished according to the detected value (direction and intensity) of the pressure sensor Whether have graviational interaction between permanent magnet 25a, 25b, thus, it is possible to identify guide device be in magnetic field generation state or In magnetic field shielding state.
(embodiment 2)
Then, illustrate embodiments of the present invention 2.
In the above embodiment 1, magnetic field is made to generate state and magnetic field screen by changing the interval of permanent magnet 25a, 25b State phase co-conversion is covered, still, in addition to this, additionally it is possible to make these state phase co-conversions by various methods.
Figure 11 A and Figure 11 B are the structures for representing the magnetic field generation section that the guide device involved by embodiment 2 has Schematic diagram, Figure 11 A represent magnetic field generation state, and Figure 11 B represent magnetic field shielding state.As seen in figs. 11a and 11b, implementing In guide device involved by mode 2, instead of Fig. 2 shows magnetic field generation section 251 and have magnetic field generation section 30.It produces in the magnetic field Life portion 30 has a pair of permanent magnet 31a, 31b and bearing part 31c, and a pair of permanent magnet 31a, 31b are with orthogonal with the direction of magnetization The mode facing towards bed 102 be arranged side-by-side, bearing part 31c is so that either one in permanent magnet 31a, 31b can rotate Mode support permanent magnet 31a, 31b.In addition, the knot other than the magnetic field generation section 30 of guide device involved by embodiment 2 Structure is identical with the structure shown in Fig. 2 and Fig. 4.In addition, in Figure 11 A, 11B, the shell of storage permanent magnet 31a, 31b is omitted.
As shown in Figure 11 A, under magnetic field generation state, permanent magnet 31a, 31b are with the phase in the face parallel with the direction of magnetization Mutually identical extremely opposed state is configured.At this point, form direction and each magnetization from permanent magnet 31a, 31b magnetic line of force dissipated The substantially parallel open-flux path in direction.As a result, formation magnetic field MF in the range of effective field region 100 is included on bed 102.
When being changed into magnetic field shielding state from magnetic field generation state, magnetic field state change driving portion 252 makes (with reference to Fig. 2) A side in permanent magnet 31a and 31b is around the axis R1 rotations by permanent magnet 31a, 31b, as shown in Figure 11 B, makes and the direction of magnetization It is mutually different extremely opposed in parallel face.At this point, magnetic line of force FL formation is rested in permanent magnet 31a, 31b and near it Closed magnetic circuit.Become the state to 100 armoured magnetic field MF of effective magnetic field region as a result,.
(variation 2-1)
As the variation 2-1 of embodiment 2, can also be used in the same manner with variation 1-5 to permanent magnet 31a, 31b it Between power (the magnetic pull or magnetic repulsion) sensor that is detected form magnetic field state identification part 26.In addition, in variation In 2-1, the detected value (direction and intensity) according to pressure sensor is to distinguish the power to work between permanent magnet 31a, 31b Gravitation or repulsion, thus, it is possible to identify that guide device is to be in magnetic field shielding state in magnetic field generation state.
(embodiment 3)
Then, illustrate embodiments of the present invention 3.
Figure 12 A and Figure 12 B are the structures for representing the magnetic field generation section that the guide device involved by embodiment 3 has Schematic diagram, Figure 12 A represent magnetic field generation state, and Figure 12 B represent magnetic field shielding state.As illustrated in figs. 12 a and 12b, implementing In guide device involved by mode 3, instead of Fig. 2 shows magnetic field generation section 251 and have magnetic field generation section 40.It produces in the magnetic field There are two permanent magnets to (41a, 41b) and (42a, 42b) for the tool of life portion 40, and two permanent magnets are to (41a, 41b) and (42a, 42b) By it is orthogonal with the direction of magnetization facing towards bed 102 in a manner of be arranged side-by-side.For permanent magnet 41a, 42a, to be put down with the direction of magnetization It is mutually different extremely opposed in capable face, and fixed position is maintained at by bearing part (not shown).On the other hand, for forever Magnet 41b, 42b are kept with the mutually different extremely opposed state maintained portion 43 in the face parallel with the direction of magnetization.This Outside, the structure other than the magnetic field generation section 40 of the guide device involved by embodiment 3 is identical with the structure shown in Fig. 2 and Fig. 4. In addition, in Figure 12 A, 12B, the shell of storage permanent magnet 41a, 42a is omitted.
As illustrated in fig. 12, under magnetic field generation state, make what each permanent magnet was included to (41a, 41b), in (42a, 42b) Permanent magnet by the face parallel with the direction of magnetization it is mutually different it is extremely opposed in a manner of be configured.At this point, from permanent magnet The spaces that are formed in around magnetic field generation section 40 of magnetic line of force FL of 41a, 41b diverging substantially surround and converge on permanent magnet 42a, The open-flux path of 42b.Magnetic field MF is formed in the range of comprising effective field region 100 as a result,.
When being changed into magnetic field shielding state from magnetic field generation state, magnetic field state change driving portion 252 makes (with reference to Fig. 2) Thus maintaining part 43 makes around the axis R2 rotations by permanent magnet 41b, 42b in each permanent magnet is to (41a, 41b), (42a, 42b) Mutually different is extremely opposed.At this point, magnetic line of force FL formation stop at each permanent magnet to the inside of (41a, 41b), (42a, 42b) with And its neighbouring closed magnetic circuit.Become the state to 100 armoured magnetic field MF of effective magnetic field region as a result,.
In addition, when being changed into magnetic field shielding state from magnetic field generation state, can also replace revolving permanent magnet 41b, 42b Then transferring permanent magnet 41a, 42a sidespin makes its relativeness relative to permanent magnet 41b, 42b change.
(variation 3-1)
As the variation of embodiment 3, it is changed into magnetic field shielding state making the magnetic field generation section 40 shown in Figure 12 A In the case of, it can also rotate maintaining part 43 so that the direction of magnetization is intersected in each permanent magnet is to (41a, 41b), (42a, 42b). Such as shown in Figure 13, when rotating maintaining part 43 in a manner of making axis R2 orthogonal with the axis R3 by permanent magnet 41a, 42a, Each permanent magnet is orthogonal to the direction of magnetization in (41a, 41b), (42a, 42b) and mutually different pole-face approaches.In this case, magnetic The closed magnetic circuit that line of force FL formation recycles in this way according to permanent magnet 41a → permanent magnet 41b → permanent magnet 42a → permanent magnet 42b.By This, becomes the state to effective magnetic field region 100 (with reference to Figure 12 A) armoured magnetic field MF.
(variation 3-2)
As other variations of embodiment 3, with variation 2 it is equally possible that using to permanent magnet 41a, 41b it Between the sensor that is detected of power (magnetic pull or magnetic repulsion) either between permanent magnet 42a, 42b know to form magnetic field state Other portion 26.
(embodiment 4)
Then, illustrate embodiments of the present invention 4.
Figure 14 A and Figure 14 B are the structures for representing the magnetic field generation section that the guide device involved by embodiment 4 has Schematic diagram, Figure 14 A represent magnetic field generation state, and Figure 14 B represent magnetic field shielding state.As shown in figs. 14 a and 14b, implementing In guide device involved by mode 4, instead of Fig. 2 shows magnetic field generation section 251 and have magnetic field generation section 50.It produces in the magnetic field Life portion 50 has orthogonal with the direction of magnetization facing towards bed 102 and a pair of of permanent magnet 51a, 51b for being discretely configured and by iron The magnetic shielding part 52 that ferromagnets is waited to form.Permanent magnet 51a, 51b are with the mutually different pole in the face parallel with the direction of magnetization Opposed state is kept by bearing part (not shown).In addition, the magnetic field generation section 50 of the guide device involved by embodiment 4 Structure in addition is identical with the structure shown in Fig. 2 and Fig. 4.In addition, in Figure 14 A, Figure 14 B, be omitted storage permanent magnet 51a, The shell of 51b.
As shown in Figure 14 A, under magnetic field generation state, magnetic shielding part 52 is with the effective magnetic field with permanent magnet 51a, 51b The mode of pole-face (being the face of downside in Figure 14 A) contact of 100 opposite side of region is configured.At this point, dissipated from permanent magnet 51a The space that magnetic line of force FL is formed in the top of magnetic field generation section 50 substantially surrounds and converges on the open-flux path of permanent magnet 51b.As a result, Formation magnetic field MF in the range of effective field region 100 is included on bed 102.
When being changed into magnetic field shielding state from magnetic field generation state, magnetic field state change driving portion 252 (with reference to Fig. 2) is such as The pole-face for making magnetic shielding part 52 from permanent magnet 51a, 51b like that shown in Figure 14 B leaves.At this point, in the attached of permanent magnet 51a, 51b Figure downside, magnetic line of force FL converge on permanent magnet 51a from permanent magnet 51b via magnetic shielding part 52, on the other hand, in permanent magnet On the upside of the attached drawing of 51a, 51b, magnetic line of force FL is rested near the permanent magnet 51a, 51b.Become as a result, to effective magnetic field region The state of 100 armoured magnetic field MF.
In addition, in embodiment 4, also can instead of magnetic shielding part 52 using the permanent magnet for defining the direction of magnetization Obtain identical effect.
(embodiment 5)
Then, illustrate embodiments of the present invention 5.
Figure 15 is the schematic diagram for the Sketch for representing the guide device involved by embodiment 5.As shown in figure 15, implement Guide device 60 involved by mode 5 relative to Fig. 2 shows guide device 20 be also equipped with subject mounting portion 61a can be opposite In the leg 61b beds 61 slided and the mounting table driving portion 62 of driving subject mounting portion 61a.61 He of bed of guide device 60 Structure other than mounting table driving portion 62 is identical with embodiment 1.
The length direction being provided in the lower surface of subject mounting portion 61a in subject 101 (is in fig.15 right and left To) extension track, as a result, subject mounting portion 61a (reference can be slided in above-mentioned length direction relative to leg 61b Figure 16).Mounting table driving portion 62 is acted under the control of control unit 27, makes subject mounting portion 61a in above-mentioned height side It moves up.
Control unit 27 makes mounting table driving portion 62 and magnetic field state when guide device 60 is made to be changed into magnetic field shielding state Change driving portion 252 is linkedly acted, as shown in figure 16, make the check object position (such as stomach) of subject 101 from It leaves in effective magnetic field region 100.
According to this embodiment 5, when guide device 60 is made to be changed into magnetic field shielding state, magnetic can be further reduced Influence of the magnetic field that field generating unit 251 generates to capsule type endoscope 10.
In addition it is also possible to by the structure setting of the bed 61 illustrated in embodiment 5 and mounting table driving portion 62 in implementation Guide device involved by mode 2~4.
The embodiment of above description is only for implementing the example of the present invention, and the present invention is not limited to this.In addition, this Invention is appropriately combined by multiple structural elements disclosed in by each embodiment, variation can generate various inventions.This Invention can correspondingly carry out various modifications, also, according to the above records with specification, can carry out it within the scope of the invention Its various embodiment is obvious.
The explanation of reference numeral
1：Encapsulated medical device guiding system；10：Capsule type endoscope；11A、11B：Image pickup part；12：Capsule shell Body；12a：Tubular shell；12b、12c：Domed shape housing；13A、13B：Illumination portion；14A、14B：Optical system；15A、15B： Photographing element；16：Wireless communication part；16a：Antenna；17：Control unit；18：Power supply unit；19：Permanent magnet；20、60：Guide device； 21a：Antenna；21：Receiving part；22：Position detection part；23a：Display unit；23b：Notification unit；24：Operation inputting part；25：Guiding Magnetic field generating unit；251、30、40、50：Magnetic field generation section；252：Magnetic field state changes driving portion；253：Plan-position changing unit； 254：Upright position changing unit；255：Elevation angle changing unit；256：Angle of revolution changing unit；25a、25b、31a、31b、41a、41b、 42a、42b、51a、51b：Permanent magnet；25c、31c：Bearing part；25d、25e：Shell；25f：Stop part；26：Magnetic field state is known Other portion；27：Control unit；28：Storage part；43：Maintaining part；52：Magnetic shielding part；61、102：Bed (subject mounting table)；61a： Subject mounting portion；61b：Leg；62：Mounting table driving portion；100：Effective magnetic field region；101：Subject.

Claims (10)

1. a kind of magnetic field generation device is generated as the guiding magnetic field for the magnetic field to object progress magnetic guiding, the magnetic Field generation device is characterized in that having：
First permanent magnet and the second permanent magnet, above-mentioned first permanent magnet and above-mentioned second permanent magnet generate above-mentioned guiding magnetic field, with The mode that the direction of magnetization is mutually parallel is configured；
Pass through above-mentioned first permanent magnet and the axis of above-mentioned second permanent magnet；And
Switching part, by the way that above-mentioned first permanent magnet or above-mentioned second permanent magnet is made to be rotated around above-mentioned axis come to first state and the Two-state switches over, which is make above-mentioned first permanent magnet and above-mentioned second permanent magnet mutual identical extremely opposed And the state in above-mentioned guiding magnetic field is generated in defined region, which is to make above-mentioned first permanent magnet and above-mentioned second The mutually different state that is extremely opposed and not generating above-mentioned guiding magnetic field in above-mentioned defined region of permanent magnet.
2. magnetic field generation device according to claim 1, which is characterized in that
Under above-mentioned second state, also approach above-mentioned first permanent magnet and the mutually different pole-face of above-mentioned second permanent magnet.
3. magnetic field generation device according to claim 1, which is characterized in that be also equipped with：
Magnetic field state identification part identifies above-mentioned first state and above-mentioned second state；And
Notification unit notifies the recognition result of above-mentioned magnetic field state identification part.
4. magnetic field generation device according to claim 3, which is characterized in that
The magnetic field that above-mentioned magnetic field state identification part generates the magnetic field generation device is detected.
5. magnetic field generation device according to claim 3, which is characterized in that
Power of the above-mentioned magnetic field state identification part between above-mentioned first permanent magnet and above-mentioned second permanent magnet is detected.
6. magnetic field generation device according to claim 3, which is characterized in that
Above-mentioned notification unit notifies above-mentioned recognition result by visual information.
7. magnetic field generation device according to claim 3, which is characterized in that
Above-mentioned notification unit notifies above-mentioned recognition result by auditory information.
8. magnetic field generation device according to claim 1, which is characterized in that
Above-mentioned object is to be built-in with magnet and be directed to the capsule medical apparatus in subject.
9. a kind of encapsulated medical device guiding system, which is characterized in that have：
Magnetic field generation device is generated as carrying out the guiding magnetic field in the magnetic field of magnetic guiding to object, which produces Generating apparatus has：First permanent magnet and the second permanent magnet, above-mentioned first permanent magnet and above-mentioned second permanent magnet generate above-mentioned guiding Magnetic field is configured in a manner that the direction of magnetization is mutually parallel；Pass through above-mentioned first permanent magnet and the axis of above-mentioned second permanent magnet；And Switching part, by the way that above-mentioned first permanent magnet or above-mentioned second permanent magnet is made to be rotated around above-mentioned axis come to first state and the second shape State switches over, the first state be make the mutual identical extremely opposed of above-mentioned first permanent magnet and above-mentioned second permanent magnet and The state in above-mentioned guiding magnetic field is generated in defined region, which is to make above-mentioned first permanent magnet and above-mentioned second permanent magnetism The mutually different state that is extremely opposed and not generating above-mentioned guiding magnetic field in above-mentioned defined region of body；And
Capsule medical apparatus is built-in with magnet, is directed in subject and in above-mentioned defined region by above-mentioned Magnetic field is guided by carry out magnetic guiding.
10. encapsulated medical device guiding system according to claim 9, which is characterized in that be also equipped with：
Magnetic field state identification part identifies above-mentioned first state and above-mentioned second state；And
Control unit, according to the inspection state of the recognition result of above-mentioned magnetic field state identification part and above-mentioned capsule medical apparatus To control the action of above-mentioned switching part.
CN201380017357.4A 2012-05-07 2013-05-01 Magnetic field generation device and encapsulated medical device guiding system Active CN104244797B (en)

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EP2848184A4 (en) 2015-07-22
CN104244797A (en) 2014-12-24

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